To answer OP's question, no you don't.
We have used an old Xerox 1250 and the magic touch transfer papers work well enough on white shirts.
There are other papers that are better. It's been a while but from memory on the Magic Touch stuff clear areas yellowed slightly quite soon.
The process is a quick way to do light coloured shirts though.
Simply run the
paper through the laser printer and heat transfer onto the shirt.
Edit - some of the newer laser printers' toners don't work as well so try before you buy.